B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work

A—HUMAN NECESSITIES

A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE

A61B—DIAGNOSIS; SURGERY; IDENTIFICATION

A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges

Abstract

PROBLEM TO BE SOLVED: To provide a remote-controlled actuator that changes the position of a tool attached to the end of an elongated pipe with high dimensional accuracy via its remote controlled operation.SOLUTION: The actuator includes an elongated spindle guide 3, an end part 2 attached to the tip of the same while the attached end part 2 easily changes its position, and a tool 1 rotatably provided at the end part 2. The spindle guide 3 includes a rotation shaft 22 to transmit rotation to the spindle 13, and a guide hole 30a opened throughout both the ends of the same. A positional change drive source 42 moves forward and backward a positional operation member 31 inserted, with its position being variable, through the guide hole 30a to change the position of the end part 2. When a positional control means 53 to control the position of the positional change drive source 42 takes control of the positional operation member 31 over its movement from the standard operation start position to the target position, the process includes a step where the position operation member is temporarily moved away from the target position.

Description

Translated from Japanese

この発明は、工具の姿勢を遠隔操作で変更可能で、医療用、機械加工等の用途で用いられる遠隔操作型アクチュエータに関する。 The invention is capable of changing the orientation of the tool by remote control, medical, relates to a remote controlled actuator used in applications machining or the like.

医療用として骨の加工に用いられたり、機械加工用としてドリル加工や切削加工に用いられたりする遠隔操作型アクチュエータがある。 Or used in the processing of bone for medical use, there is a remote controlled actuator or used in drilling and cutting for the machining.遠隔操作型アクチュエータは、直線形状や湾曲形状をした細長いパイプ部の先端に設けた工具を遠隔操作で制御する。 Remote controlled actuator, a tool provided at the tip of an elongated pipe section in which the linear shape or curved shape is controlled remotely.ただし、従来の遠隔操作型アクチュエータは、工具の回転のみを遠隔操作で制御するだけであったため、複雑な形状の加工や外からは見えにくい箇所の加工が難しかった。 However, conventional remote controlled actuator, since was only controls only the rotation of the tool by remote control, from the processing and the outside of the complex shape difficult machining of a portion difficult to see.また、ドリル加工では、直線だけではなく、湾曲状の加工が可能なことが求められる。 Further, in the drilling, as well as linear, it capable curved machining is required.さらに、切削加工では、溝内部の奥まった箇所の加工が可能なことが求められる。 Further, in the cutting, it is required that capable machining of a portion recessed internal groove.以下、医療用を例にとって、遠隔操作型アクチュエータの従来技術と課題について説明する。 Hereinafter, an example medical, described prior art and problems of the remote controlled actuator.

整形外科分野において、骨の老化等によって擦り減って使えなくなった関節を新しく人工のものに取り替える人工関節置換手術がある。 In the orthopedic field, there is an artificial joint replacement surgery to replace a thing of the new artificial joint that is no longer used and worn out by aging or the like of the bone.この手術では、患者の生体骨を人工関節が挿入できるように加工する必要があるが、その加工には、術後の生体骨と人工関節との接着強度を高めるために、人工関節の形状に合わせて精度良く加工することが要求される。 In this operation, it is necessary to process so that it can insert the patient's living bone artificial joints, in its processing, in order to increase the adhesive strength between postoperative living bone and the artificial joint, the shape of the prosthesis it is required to process accurately combined.

例えば、股関節の人工関節置換手術では、大腿骨の骨の中心にある髄腔部に人工関節挿入用の穴を形成する。 For example, in the hip joint replacement surgery to form a hole for artificial joint inserted into the medullary cavity in the center of the bone of the femur.人工関節と骨との接触強度を保つには両者の接触面積を大きくとる必要があり、人工関節挿入用の穴は、骨の奥まで延びた細長い形状に加工される。 It is necessary to take a large contact area therebetween to maintain contact strength between the artificial joint and the bone, the hole for the prosthesis insertion is processed into an elongated shape extending deep into the bone.このような骨の切削加工に用いられる医療用アクチュエータとして、細長いパイプ部の先端に工具を回転自在に設け、パイプ部の基端側に設けたモータ等の回転駆動源の駆動により、パイプ部の内部に配した回転軸を介して工具を回転させる構成のものがある（例えば特許文献１）。 As a medical actuator used in the machining of such bone, rotatably mounted to the tool at the tip of the elongated pipe part, by the driving of the rotary driving source such as a motor provided on the base end side of the pipe section, the pipe section there is a structure for rotating the tool through the rotary shaft arranged inside (for example, Patent Document 1).この種の医療用アクチュエータは、外部に露出した回転部分は先端の工具のみであるため、工具を骨の奥まで挿入することができる。 This kind of medical actuators, rotary portion exposed to the outside because it is only the tip of the tool can be inserted a tool all the way into the bone.

人工関節置換手術では、皮膚切開や筋肉の切断を伴う。 The artificial joint replacement surgery involves cutting the skin incision and muscle.すなわち、人体に傷を付けなければならない。 In other words, it must be scratching the human body.その傷を最小限に抑えるためには、前記パイプ部は真っ直ぐでなく、適度に湾曲している方が良い場合がある。 In order to suppress the wound to a minimum, the pipe portion is not straight, it may better that moderately curved.このような状況に対応するためのものとして、次のような従来技術がある。 As to address this situation, there are the following prior art.例えば、特許文献２は、パイプ部の中間部を２重に湾曲させて、パイプ部の先端側の軸心位置と基端側の軸心位置とをずらせたものである。 For example, Patent Document 2, by bending the middle portion of the pipe section to double, in which shifted the central axial position of the axial position and the proximal side of the distal end of the pipe section.このようにパイプ部の軸心位置が先端側と軸心側とでずれているものは、他にも知られている。 Thus what axial position of the pipe portion is offset in the distal end side and the shaft center side, it is also known in other.また、特許文献３は、パイプ部を１８０度回転させたものである。 Further, Patent Document 3 is obtained by the pipe section is rotated 180 degrees.

生体骨の人工関節挿入用穴に人工関節を嵌め込んだ状態で、生体骨と人工関節との間に広い隙間があると、術後の接着時間が長くなるため、前記隙間はなるべく狭いのが望ましい。 In a state of fitting the prosthesis to the artificial joint insertion hole of the living bone, when there is a wide gap between the living bone and the artificial joint, since the adhesion time of surgery becomes longer, the said gap as narrow as possible desirable.また、生体骨と人工関節の接触面が平滑であることも重要であり、人工関節挿入用穴の加工には高い精度が要求される。 It is also important the contact surface of the living bone and the artificial joint is smooth, high accuracy is required for processing of artificial joint insertion hole.しかし、パイプ部がどのような形状であろうとも、工具の動作範囲はパイプ部の形状の制約を受けるため、皮膚切開や筋肉の切断をできるだけ小さくしながら、生体骨と人工関節との間の隙間を狭くかつ両者の接触面が平滑になるように人工関節挿入用穴を加工するのは難しい。 However, even it would be any shape pipe section, the operating range of the tool for receiving the constraint of the shape of the pipe section, while minimizing the cutting of skin incision and muscle, between the living bone and the artificial joint it is difficult to process the artificial joint insertion hole so as to narrow the gap and both of the contact surface is smooth.

一般に、人工関節置換手術が行われる患者の骨は、老化等により強度が弱くなっていることが多く、骨そのものが変形している場合もある。 Generally, a patient's bone to artificial joint replacement surgery is performed, often strength is weakened by aging or the like, in some cases the bone itself is deformed.したがって、通常考えられる以上に、人工関節挿入用穴の加工は難しい。 Thus, beyond that normally considered, processing of artificial joint insertion hole is difficult.

そこで、本出願人は、人工関節挿入用穴の加工を比較的容易にかつ精度良く行えるようにすることを目的として、先端に設けた工具の姿勢を遠隔操作で変更可能とすることを試みた。 The present applicant has the purpose of to allow better relatively easily and accurately machining the artificial joint insertion hole, and the attitude of the tool provided at the tip tried to be changed by remote control .工具の姿勢が変更可能であれば、パイプ部の形状に関係なく、工具を適正な姿勢に保持することができるからである。 Orientation of the tool changes possible, regardless of the shape of the pipe section, it is because it is possible to hold the tool in a proper posture.しかし、試作品で試験を行った結果、遠隔操作用の操作部材の動作方向によって操作部材に生じる摩擦抵抗の向きが変わることや、摩擦抵抗で操作部材が弾性変形することにより、操作部材を繰り返し動作する場合に操作部材の動作量に誤差が生じる場合のあることが分かった。 However, as a result of the test in prototype, the frictional resistance of the direction by operating the direction generated in the operation member of the operation member for remote operation is changed and, by the operation member by the frictional resistance is elastically deformed, repeat the operation member It was found to be in operation amount of the operation member when the operation of errors may occur.

なお、細長いパイプ部を有しない遠隔操作型アクチュエータでは、手で握る部分に対して工具が設けられた部分が姿勢変更可能なものがある（例えば特許文献４）が、遠隔操作で工具の姿勢を変更させるものは提案されていない。 In the remote controlled actuator having no elongated pipe section, part tool is provided for the portion gripped by hand for Available attitude change (for example, Patent Document 4), the attitude of the tool by remote control It has not been proposed that to change.

この発明の目的は、細長いパイプ部の先端に設けられた工具の姿勢を遠隔操作で精度良く変更することができ、特に遠隔操作用の操作部材を繰り返し動作させたときに摩擦抵抗の方向の違いに起因する誤差を低減できる遠隔操作型アクチュエータを提供することである。 Object, the posture of a tool provided at the distal end of the elongated pipe part can be accurately changed remotely, the direction of the difference in frictional resistance when particularly by repeatedly operating the operating member for remote operation of the present invention to provide a remote controlled actuator capable of reducing errors due to.

この発明にかかる遠隔操作型アクチュエータは、細長形状のスピンドルガイド部と、このスピンドルガイド部の先端に先端部材連結部を介して姿勢変更自在に取付けられた先端部材と、この先端部材に回転自在に設けた工具と、この工具を回転させる工具回転用駆動源と、前記先端部材の姿勢を操作する姿勢変更用駆動源とを備え、前記先端部材は、前記工具を保持するスピンドルを回転自在に支持し、前記スピンドルガイド部は、前記工具回転用駆動源の回転を前記スピンドルに伝達する回転軸と、両端に貫通したガイド孔とを内部に有し、先端が前記先端部材に接して進退動作することにより前記先端部材を姿勢変更させる可撓性の姿勢操作部材を前記ガイド孔内に進退自在に挿通し、この姿勢操作部材を前記姿勢変更用駆動源で進退動 Remote controlled actuator according to the present invention includes a spindle guide section of the elongated, a tip member mounted for attitude change through the tip member connecting portion to the distal end of the spindle guide part, rotatably this tip member a tool provided, the tool rotation drive source for rotating the tool, and a posture changing drive source for operating the attitude of the tip member, said tip member, rotatably supporting a spindle for holding the tool and, the spindle guide part includes a rotating shaft for transmitting the rotation of the tool rotation drive source to said spindle, and a guide hole penetrating at both ends inside the tip is advanced and retracted in contact with said tip member the tip member was inserted retractably flexible attitude altering member for position change in the guide hole, advancing and retracting the attitude altering member in the drive source for the posture change movement byさせる。 Make.前記姿勢変更用駆動源を制御する姿勢制御手段を設け、この姿勢制御手段は、前記姿勢操作部材を動作開始位置である基準位置から目標位置へ移動させる制御を行うとき、定められた規則に従い、一時的に姿勢操作部材を目標位置から遠ざかる側に移動させる過程を含むことを特徴とする。 Attitude control means for controlling the attitude altering drive source provided, the attitude control means, when performing control to move from the reference position is an operation starting position the attitude altering member to the target position, in accordance with a defined rule, characterized in that it comprises a process of moving the temporary attitude altering member on the side away from the target position.前記基準位置は、動作開始位置つまり動作開始直前の現在位置のことであり、原点位置等の特定の位置に限らない。 The reference position is that the operation start position that is operation start current position just before is not limited to a particular location, such as a home position.

この構成によれば、工具回転用駆動源の回転が回転軸を介して先端部材のスピンドルに伝達され、このスピンドルに保持された工具が回転することにより、骨等の切削が行われる。 According to this arrangement, the rotation of the tool rotation driving source is transmitted to the spindle of the distal end member via a rotation axis, the tool held on the spindle by rotating, carried out the cutting of the bone and the like.このときの先端部材の姿勢は、姿勢操作部材の先端の位置によって決定される。 Attitude of the distal end member at this time is determined by the position of the tip of the posture control member.姿勢変更用駆動源により姿勢操作部材を進退させると、この姿勢操作部材の先端の位置が変わり、先端部材が姿勢変更する。 When advancing and retracting the attitude altering member by the posture changing drive source, the position of the tip of the posture control member changes, the tip member to change orientation.姿勢変更用駆動源は、先端部材から離れた位置に設けられており、上記先端部材の姿勢変更は遠隔操作で行われる。 Attitude altering drive source is provided at a position apart from the tip member, the posture change of the tip member is carried out by remote control.姿勢操作部材はガイド孔に挿通されているため、姿勢操作部材が長手方向と交差する方向に位置ずれすることがなく、常に先端部材に対し適正に作用することができ、先端部材の姿勢変更動作が正確に行われる。 Since the attitude altering member is inserted into the guide hole, without attitude altering member is positioned displaced in a direction intersecting the longitudinal direction, it is possible to always act properly to the tip member, the posture changing behavior of the distal end member It is carried out accurately.また、姿勢操作部材は可撓性であるため、スピンドルガイド部が湾曲した状態でも姿勢変更動作が確実に行われる。 Moreover, since the attitude altering member is flexible, the posture change operation is reliably performed even when the spindle guide part is curved.

姿勢操作部材は、細長形状のスピンドルガイド部の両端に貫通したガイド孔に挿通されており、細くて長く剛性が低いため、外力の影響を受けて進退方向の長さが変わる。 Attitude altering member is inserted into the guide hole penetrating both ends of the spindle guide part of the elongated, since thin long low stiffness, the length of the moving direction is changed under the influence of external forces.つまり、姿勢操作部材はばね系であると見なせる。 That is, the attitude altering member can be regarded as a spring system.姿勢操作部材の進退、すなわち先端部材に対する作用力が増大する側への移動と減少する側への移動とで、姿勢操作部材とガイド孔の内周面との間で生じる摩擦の向きが異なる。 Advancing and retracting the attitude altering member, that is, the movement to the side to reduce the movement of the side force acting against the tip member is increased, the frictional direction generated between the inner peripheral surface of the posture control member and the guide hole are different.また、姿勢操作部材を先端部材に対する作用力が増大する側へ移動させる場合は、姿勢操作部材と先端部材との接触部の摩擦が大きいが、作用力が減少する側へ移動させる場合は、姿勢操作部材と先端部材との接触部の摩擦はほとんど生じない。 Furthermore, the attitude altering if member acting force against the tip member is moved to the increase side is greater contact portion of the friction between the attitude altering member and the tip member, when moving to the side acting force is decreased, the attitude operation frictional contact portion between the member and the tip member hardly occurs.これらのことから、先端部材の姿勢変更時、姿勢変更用駆動源により姿勢操作部材に付与する駆動力が一定であっても、姿勢操作部材の進退の状況が異なれば、姿勢操作部材の長さが変わり、姿勢操作部材の先端の位置が一定しない。 From these, when changing the attitude of the distal end member, even driving force applied to the attitude altering member by the posture changing drive source is constant, different situations of advancing and retracting the attitude altering member, the length of the attitude altering member changes, not constant position of the tip of the posture control member.これは、先端部材の姿勢変更制御の精度に影響する。 This affects the accuracy of the attitude change control of the tip member.姿勢制御手段が、姿勢操作部材を基準位置から目標位置へ移動させる制御を行うとき、一時的に姿勢操作部材を目標位置を越えて移動させ、その後戻るように目標位置へ移動させると、上記姿勢操作部材の長さが変わる要因を排除することができる。 Attitude control means, when performing control to move the attitude altering member from the reference position to the target position, temporarily the attitude altering member is moved beyond the target position, is moved to a subsequent back so that the target position, the posture it is possible to eliminate the factors that length of the operating member varies.それにより、常に一定の精度で先端部材の姿勢変更制御を行える。 Thereby, always perform the attitude change control of the tip member at a certain accuracy.

この発明において、前記姿勢操作部材は、前記先端部材側に配置された剛体の先端力伝達部材と、前記姿勢変更用駆動源側に配置された剛体の基端力伝達部材と、これら先端力伝達部材と基端力伝達部材間で力を伝達する可撓性で長尺な中間力伝達部材とでなっていても良い。 In the present invention, the posture control member, said a tip member distal force placed rigid transmitted to the side member, a proximal force transmitting member rigid disposed in the attitude altering drive source side, these tip force transmission flexible to transmit force between the members and the proximal force transmitting member may be made in an elongate intermediate force transmitting member.先端力伝達部材および基端力伝達部材を剛体とすることで、姿勢操作部材の作用力を先端部材に確実に伝達することができ、かつ姿勢変更用駆動源の駆動力を姿勢操作部材に確実に伝達することができる。 The distal force transmitting member and a proximal force transmitting member by a rigid body, it is possible to reliably transmit the acting force of the posture control member to the tip member, and reliably driving force of the attitude altering drive source to position the operating member it can be transmitted to.また、中間力伝達部材を可撓性で長尺とすることで、姿勢操作部材全体を可撓性とすることができる。 In addition, by a long intermediate force transmitting member is flexible, it can be the entire attitude altering member and the flexible.

この発明において、前記姿勢制御手段は、前記姿勢操作部材を基準位置から前記先端部材に対する作用力が減少する側の目標位置へ移動させるとき、目標位置を越えて移動させた後、目標位置まで戻すように前記姿勢変更用駆動源を制御するのが良い。 In the present invention, the attitude control means, when acting force moves to the target position of the decreasing side with respect to the distal end member said attitude altering member from the reference position, after moving beyond the target position, to return to the target position It is good for controlling the attitude altering drive sources so.姿勢操作部材を先端部材に対する作用力が増大する側へ移動させる場合と減少する側へ移動させる場合とを比較すると、他の部材との摩擦の関係で、減少する側へ移動させる場合の方が、姿勢操作部材の先端の移動量が大きい。 Comparing the case of moving the attitude altering member to the side to reduce the case of acting force against the tip member is moved to the increase side, by friction relationship with other members, it is better when moving to the side to decrease , a large amount of movement of the tip of the posture control member.すなわち、作用力が増大する側へ移動させる場合と減少する側へ移動させる場合とで、姿勢操作部材の先端の移動量に差が生じる。 That is, in the case of moving to the side to reduce the case of moving to the side acting force is increased, there is caused a difference in the amount of movement of the tip of the posture control member.姿勢操作部材を基準位置から先端部材に対する作用力が減少する側の目標位置へ移動させるとき、目標位置を越えて移動させた後、目標位置まで戻すようにすれば、上記移動量の差を解消して、姿勢操作部材に付与する駆動力が一定である場合には姿勢操作部材の先端の移動量を一定にできる。 When acting force against the tip member moves to the target position of the decreasing side of the attitude altering member from the reference position, after moving beyond the target position, if the back up to the target position, eliminate the difference between the amount of movement to, when the driving force applied to the attitude altering member is constant can be made constant the amount of movement of the tip of the posture control member.それにより、先端部材の姿勢変更制御の精度が向上する。 This improves the accuracy of the attitude change control of the tip member.

この発明において、前記先端部材は前記先端部材連結部の円筒状または球面状の案内面に沿って姿勢変更するものであり、前記ガイド孔およびこのガイド孔内に挿通された姿勢操作部材を、前記案内面の曲率中心の周りの複数箇所に設け、前記姿勢変更用駆動源を各姿勢操作部材に対して個別に設け、前記複数の姿勢操作部材の前記先端部材への作用力の釣り合いにより前記先端部材の姿勢を変更、維持させるものとしても良い。 In the present invention, the tip member is intended to change the posture along the cylindrical or spherical guide surface of the distal end member connecting portion, the guide hole and the insertion posture control member in the guide hole, wherein provided at a plurality of positions around the center of curvature of the guide surface, is provided separately the attitude altering drive source for each posture control member, the tip by the balance of the force acting on the said tip member of said plurality of attitude altering member changing the position of the member may be one which maintained.この構成であると、複数の姿勢操作部材で先端部材に作用力を付与して、先端部材の姿勢を変更、維持させるため、先端部材の姿勢安定性を高めることができる。 With this configuration, by applying an action force to the tip member at a plurality of attitude altering member, changes the attitude of the distal end member, for maintaining, it is possible to improve the posture stability of the tip member.このように複数の姿勢操作部材で先端部材を姿勢変更させる場合、前記姿勢制御手段を以下のように構成することができる。 If this way of changing the position of the distal end member in a plurality of attitude altering member may be configured as follows the attitude control means.

すなわち、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、各姿勢操作部材が同じ方向に移動して動作を完了するように前記姿勢変更用駆動源を制御するのが良い。 That is, the posture control means, when moving the plurality of attitude altering member from the reference position to the respective target position, the attitude altering drive source so that each posture control member has completed an operation by moving in the same direction It is good to control.各姿勢操作部材が同じ方向に移動して動作を完了すれば、他の部材との摩擦の関係が各姿勢操作部材で同じになるため、動作完了時点における各姿勢操作部材の先端の移動量をほぼ同じにできる。 After completing the operation the attitude altering member is moved in the same direction, the frictional relationship with other members are the same at each position control member, the movement amount of the distal end of each posture control member in the operation completion time It can be almost the same.

また、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、各姿勢操作部材につき、目標位置を越えた位置まで移動させた後、目標位置まで戻すように前記姿勢変更用駆動源を制御しても良い。 Further, the posture control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, for each posture control member, after moving to a position beyond the target position, back to the target position the attitude altering drive source may be controlled.目標位置を越えた位置を適正に設定することにより、互いに異なる方向に移動する複数の姿勢操作部材について、動作完了時点における各姿勢操作部材の先端の移動量をほぼ同じにできる。 By properly setting the position beyond the target position, the plurality of attitude altering member for moving in different directions, can be the amount of movement of the tip of each posture control member in the operation completion time about the same.

また、前記姿勢制御手段は、各姿勢操作部材を同期して駆動させるように前記姿勢変更用駆動源を制御するのが良い。 Further, the posture control means is better to control the attitude altering drive source so synchronously driving each posture control member.各姿勢操作部材を同期して駆動すれば、先端部材の姿勢変更を短時間で円滑に行える。 If synchronization with driving each posture control member, a short time performed smoothly change the position of the distal end member.

上記各姿勢制御手段の思想を組み合わせて、姿勢制御手段を構成しても良い。 By combining the ideas of the respective posture control unit may be configured to attitude control means.例えば、第１の手法にかかる姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置の手前の位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材および減少する姿勢制御部材を、それぞれの目標位置まで移動させるように前記姿勢変更用駆動源を制御する。 For example, attitude control means according to the first method, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, is moved to the side acting force against said tip member is increased moving the attitude altering member to a position before the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, the tip member attitude altering member and decreasing attitude control member is moved to the side acting force is increased, and controls the attitude altering drive source to move to the respective target positions relative.

また、第２の手法にかかる姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を目標位置まで移動させるように前記姿勢変更用駆動源を制御する。 Further, the posture control means according to the second method, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, is moved to the side acting force against said tip member is increased moving the attitude altering member to the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, the acting force against said tip member the attitude control member for moving to the side decreasing controlling the attitude altering drive source to move to the target position.

また、第３の手法にかかる姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置の手前の第１の手前位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を、目標位置の手前で前記第１の手前位置よりも目標位置に近い第２の手前位置まで移動させ、第３過程で、前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を目標位 Further, the posture control means according to the third method, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, is moved to the side acting force against said tip member is increased moving the attitude altering member to the first position before the front of the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step the move to the target position and orientation operation member is moved to the side on which the acting force is increased with respect to the tip member, and a posture control member for moving to the side acting force is reduced with respect to the tip member, the first before the target position is moved to a second front position close to the target position than the first position before, in the third step, the target position and posture control member acting force against said tip member moves to the side to decreaseまで移動させるように前記姿勢変更用駆動源を制御する。 Until controls the attitude altering drive source to move.

また、第４の手法にかかる姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材および減少する側に移動させる姿勢制御部材を、それぞれの目標位置まで移動させるように前記姿勢変更用駆動源を制御する。 Further, the posture control means according to a fourth approach, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, is moved to the side acting force against said tip member is increased moving the attitude altering member to a position beyond the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, the tip member acting force posture control member for moving on the side of the posture control member and the decrease is moved to the increase side, and controls the attitude altering drive source to move to the respective target positions relative.

この発明の遠隔操作型アクチュエータは、細長形状のスピンドルガイド部と、このスピンドルガイド部の先端に先端部材連結部を介して姿勢変更自在に取付けられた先端部材と、この先端部材に回転自在に設けた工具と、この工具を回転させる工具回転用駆動源と、前記先端部材の姿勢を操作する姿勢変更用駆動源とを備え、前記先端部材は、前記工具を保持するスピンドルを回転自在に支持し、前記スピンドルガイド部は、前記工具回転用駆動源の回転を前記スピンドルに伝達する回転軸と、両端に貫通したガイド孔とを内部に有し、先端が前記先端部材に接して進退動作することにより前記先端部材を姿勢変更させる可撓性の姿勢操作部材を前記ガイド孔内に進退自在に挿通し、この姿勢操作部材を前記姿勢変更用駆動源で進退動作させ The remote controlled actuator of the present invention includes a spindle guide section of the elongated, a tip member mounted for attitude change through the tip member connecting portion to the distal end of the spindle guide part is provided rotatably on the tip member comprising a tool with a tool rotation drive source for rotating the tool, the attitude altering drive source for operating the attitude of the tip member, said tip member, rotatably supports the spindle for holding the tool , the spindle guide part includes a rotating shaft for transmitting the rotation of the tool rotation drive source to said spindle, and a guide hole penetrating at both ends in the interior, the tip is advanced and retracted in contact with said tip member said flexible attitude altering member for the distal end member is posture changing inserted retractably into the guide hole, is advanced and retracted the attitude altering member in the drive source for the posture change byものであって、前記姿勢変更用駆動源を制御する姿勢制御手段を設け、この姿勢制御手段は、前記姿勢操作部材を動作開始位置である基準位置から目標位置へ移動させる制御を行うとき、定められた規則に従い、一時的に姿勢操作部材を目標位置から遠ざかる側に移動させる過程を含むため、細長いパイプ部の先端に設けられた工具の姿勢を遠隔操作で精度良く変更することができ、特に遠隔操作用の姿勢操作部材を繰り返し動作させたときに摩擦抵抗の方向の違いに起因する誤差を低減できる。 Be those, the posture control means for controlling the attitude altering drive source provided, the attitude control means, when performing control for moving from a a reference position operation start position to the attitude altering member to the target position, defined according resulting rules, to include a process of moving the temporary attitude altering member on the side away from the target position, and orientation of a tool provided can be accurately changed remotely to the tip of the elongated pipe section, in particular the error due to the direction of the difference in frictional resistance can be reduced when was repeated operating the attitude altering member for remote operation.

この発明の実施形態にかかる遠隔操作型アクチュエータの全体構成を示す図である。 Is a diagram showing an overall configuration of a remote controlled actuator according to an embodiment of the present invention.（Ａ）は同遠隔操作型アクチュエータの先端部材およびスピンドルガイド部の断面図、（Ｂ）はそのIIＢ−IIＢ断面図、（Ｃ）は先端部材と回転軸との連結構造を示す図、（Ｄ）は先端部材のハウジングを基端側から見た図である。 (A) the tip member and a cross-sectional view of a spindle guide of the remote controlled actuator, (B) thereof IIB-IIB section view, (C) is a diagram showing a coupling structure between shaft rotating the tip member, (D ) is a view of the housing of the tip member from the proximal end side.図２（Ａ）とは異なる状態を示す先端部材およびスピンドルガイド部の断面図である。 It is a cross-sectional view of the distal end member and the spindle guide section showing a state different from the FIG. 2 (A).図１のIV−IV断面図である。 It is a sectional view taken along line IV-IV of FIG.姿勢操作部材の異なる２つ状態を模式化して表した図である。 Two states with different attitude altering member is a diagram showing in schematic form.（Ａ），（Ｂ），（Ｃ）は姿勢変更制御の第１の手法による先端部材の姿勢変更における姿勢操作部材の位置の変化を段階的に示す図である。 (A), (B), is a diagram illustrating stepwise changes in the position of (C) is the attitude altering member in the attitude change of the tip member by the first approach attitude change control.姿勢変更制御の第１の手法による先端部材の姿勢変更時における各姿勢操作部材の基端位置の変化を示すタイムチャートである。 Is a time chart showing changes of the base end position of each attitude altering member when the posture change of the tip member by the first approach attitude change control.姿勢変更制御の第１の手法による先端部材の姿勢変更時における先端部材の変位量の変化を示すタイムチャートである。 It is a time chart showing changes in the amount of displacement of the tip member during changing of the posture of the first approach by the tip member of the attitude change control.（Ａ），（Ｂ），（Ｃ）は姿勢変更制御の第２の手法による先端部材の姿勢変更における姿勢操作部材の位置の変化を段階的に示す図である。 (A), (B), is a diagram illustrating stepwise changes in the position of (C) is the attitude altering member in the attitude change of the tip member by the second approach attitude change control.姿勢変更制御の第２の手法による先端部材の姿勢変更時における各姿勢操作部材の基端位置の変化を示すタイムチャートである。 Is a time chart showing changes of the base end position of each attitude altering member when the posture changes of the distal end member according to the second approach attitude change control.姿勢変更制御の第２の手法による先端部材の姿勢変更時における先端部材の変位量の変化を示すタイムチャートである。 It is a time chart showing changes in the amount of displacement of the tip member during changing of the posture of the second method by the tip member of the attitude change control.（Ａ），（Ｂ），（Ｃ），（Ｄ）は姿勢変更制御の第３の手法による先端部材の姿勢変更における姿勢操作部材の位置の変化を段階的に示す図である。 (A), (B), it is a diagram illustrating stepwise changes in the position of (C), (D) the posture control member in the attitude change of the distal end member according to the third approach attitude change control.姿勢変更制御の第３の手法による先端部材の姿勢変更時における各姿勢操作部材の基端位置の変化を示すタイムチャートである。 Is a time chart showing changes of the base end position of each attitude altering member when the posture changes of the distal end member according to the third approach attitude change control.姿勢変更制御の第３の手法による先端部材の姿勢変更時における先端部材の変位量の変化を示すタイムチャートである。 It is a time chart showing changes in the amount of displacement of the tip member during changing of the posture of the third method by the tip member of the attitude change control.（Ａ），（Ｂ），（Ｃ）は姿勢変更制御の第４の手法による先端部材の姿勢変更における姿勢操作部材の位置の変化を段階的に示す図である。 (A), (B), is a diagram illustrating stepwise changes in the position of (C) is the attitude altering member in the attitude change of the distal end member according to a fourth approach attitude change control.姿勢変更制御の第４の手法による先端部材の姿勢変更時における各姿勢操作部材の基端位置の変化を示すタイムチャートである。 Is a time chart showing changes of the base end position of each attitude altering member when the posture changes of the distal end member according to a fourth approach attitude change control.姿勢変更制御の第４の手法による先端部材の姿勢変更時における先端部材の変位量の変化を示すタイムチャートである。 It is a time chart showing changes in the amount of displacement of the tip member during changing of the posture of the fourth technique by the tip member of the attitude change control.

この発明の実施形態を図１〜図４と共に説明する。 Illustrating an embodiment of the present invention in conjunction with FIGS.図１において、この遠隔操作型アクチュエータは、回転式の工具１を保持する先端部材２と、この先端部材２が先端に姿勢変更自在に取付けられた細長形状のスピンドルガイド部３と、このスピンドルガイド部３の基端が結合された駆動部ハウジング４ａと、この駆動部ハウジング４ａ内の工具回転用駆動機構４ｂおよび姿勢変更用駆動機構４ｃを制御するコントローラ５とを備える。 In Figure 1, the remote controlled actuator has a distal end member 2 for holding the tool 1 rotating, the spindle guide part 3 of the elongated shape the tip member 2 is mounted for position changes on top, the spindle guide comprising a drive unit housing 4a of the base end parts 3 are coupled, and a controller 5 for controlling the tool rotation drive mechanism 4b and the attitude altering drive mechanism 4c in the drive unit housing 4a.駆動部ハウジング４ａは、内蔵の工具回転用駆動機構４ｂおよび姿勢変更用駆動機構４ｃと共に駆動部４を構成する。 Drive housing 4a constitutes the driving unit 4 with a built-in tool rotation drive mechanism 4b and the attitude altering drive mechanism 4c.

図２および図３に示すように、先端部材２は、略円筒状のハウジング１１の内部に、一対の軸受１２によりスピンドル１３が回転自在に支持されている。 As shown in FIGS. 2 and 3, the tip member 2 includes, in a substantially cylindrical housing 11, the spindle 13 is rotatably supported by a pair of bearings 12.スピンドル１３は、先端側が開口した筒状で、内径のスプライン部１３ａに工具１のシャンク１ａが回転不能の嵌合し、抜け止めピン１４によりシャンク１ａの抜け止めがなされている。 The spindle 13 is a cylindrical tip end is opened, the shank 1a of the tool 1 to the spline portion 13a of the inner diameter is fitted the unrotatable, the retaining of the shank 1a are made by stop pin 14 exits.この先端部材２は、先端部材連結部１５を介してスピンドルガイド部３の先端に取付けられる。 The distal end member 2 is attached to the tip of the spindle guide section 3 through the distal end member connecting portion 15.先端部材連結部１５は、先端部材２を姿勢変更自在に支持する手段であり、球面軸受からなる。 The distal end member connecting part 15 is a means for supporting the distal end member 2 freely posture changes, consisting of spherical bearings.

具体的には、先端部材連結部１５は、ハウジング１１の基端の内径縮径部からなる被案内部１１ａと、スピンドルガイド部３の先端に固定された抜け止め部材２１の鍔状部からなる案内部２１ａとで構成される。 Specifically, the distal end member connecting portion 15 is composed of a flange portion of the inner diameter and the guided portion 11a formed of the reduced diameter portion, retaining fixed to the distal end of the spindle guide section 3 members 21 of the proximal end of the housing 11 composed of the guide portion 21a.両者１１ａ，２１ａの互いに接する各案内面Ｆ１，Ｆ２は、スピンドル１３の中心線ＣＬ１上に曲率中心Ｏが位置し、基端側ほど径が小さい球面とされている。 Both 11a, the guide surfaces F1 in contact with each other 21a, F2 are located is the center of curvature O on the center line CL1 of the spindle 13, there is a higher base end having a smaller diameter sphere.これにより、スピンドルガイド部３に対して先端部材２が抜け止めされるとともに、姿勢変更自在に支持される。 Thus, the tip member 2 is retained relative to the spindle guide part 3 is supported to freely position change.図２は、スピンドル１３の中心線ＣＬ１とスピンドルガイド部３の中心線ＣＬ２が同一線である状態を示し、図３は両中心線ＣＬ１，ＣＬ２が互いに交差して角度θを持った状態を示す。 Figure 2 shows a state centerline CL2 of the center line CL1 and the spindle guide part 3 of the spindle 13 are identical line, FIG. 3 shows a state both center lines CL1, CL2 is having an angle θ to cross each other .

スピンドルガイド部３は、駆動部ハウジング４ａ内の工具回転用駆動源４１（図１）の回転力を前記スピンドル１３へ伝達する回転軸２２を有する。 Spindle guide part 3 has a rotary shaft 22 a rotational force to the tool rotation drive source 41 in the drive unit housing 4a (Fig. 1) is transmitted to the spindle 13.この例では、回転軸２２はワイヤとされ、ある程度の弾性変形が可能である。 In this example, the rotary shaft 22 is a wire, it is possible to some extent elastically deformable.ワイヤの材質としては、例えば金属、樹脂、グラスファイバー等が用いられる。 As the material of the wire, for example, metal, resin, glass fiber or the like is used.ワイヤは単線であっても、撚り線であってもよい。 Wire even single wire, or it may be a twisted wire.

図２（Ｃ）に示すように、スピンドル１３と回転軸２２とは、自在継手等の継手２３を介して、互いに回転伝達可能に連結されている。 As shown in FIG. 2 (C), the spindle 13 and the rotary shaft 22, via a joint 23 of the universal joint or the like, and is rotatably connected transmission to each other.継手２３は、スピンドル１３の閉塞した基端に設けられた溝１３ａと、回転軸２２の先端に設けられ前記溝１３ａに係合する突起２２ａとで構成される。 Joint 23 is composed of a groove 13a provided in the closed proximal end of the spindle 13, and the projection 22a to be engaged with the groove 13a provided at the tip of the rotary shaft 22.上記溝１３ａと突起２２ａとの連結箇所の中心は、前記案内面Ｆ１，Ｆ２の曲率中心Ｏと動位置である。 Center of the connecting portion between the groove 13a and the projection 22a is a center of curvature O and the dynamic position of the guide surfaces F1, F2.回転軸２２と突起２２ａとは別部材で構成してもよい。 The rotary shaft 22 and the projection 22a may be formed as separate members.

スピンドルガイド部３は、このスピンドルガイド部３の外郭となる外郭パイプ２５を有し、この外郭パイプ２５の中心に前記回転軸２２が位置する。 Spindle guide part 3 has an outer shell pipe 25 serving as the outer shell of the spindle guide section 3, the rotary shaft 22 at the center of the outer pipe 25 is located.回転軸２２は、それぞれ軸方向に離れて配置された複数の転がり軸受２６によって回転自在に支持されている。 Rotation shaft 22 is rotatably supported by a plurality of rolling bearings 26 which are spaced apart in the axial direction.転がり軸受２６は、スピンドルガイド３内の回転軸２２を回転自在に支持する回転支持部材である。 Rolling bearings 26 is a rotating support member for rotatably supporting the rotary shaft 22 in the spindle guide 3.各転がり軸受２６間には、これら転がり軸受２６に予圧を発生させるためのばね要素２７Ａ，２７Ｂが設けられている。 Between each rolling bearings 26, spring elements 27A for generating a preload, 27B are provided to these rolling bearings 26.ばね要素２７Ａ，２７Ｂは、例えば圧縮コイルばねである。 Spring elements 27A, 27B is, for example, a compression coil spring.転がり軸受２６の内輪に予圧を発生させる内輪用ばね要素２７Ａと、外輪に予圧を発生させる外輪用ばね要素２７Ｂとがあり、これらが交互に配置されている。 An inner ring spring element 27A which generates a preload to the inner ring of the rolling bearing 26, there is an outer ring spring element 27B which generates a preload to the outer ring, which are arranged alternately.前記抜け止め部材２１は、固定ピン２８により外郭パイプ２５のパイプエンド部２５ａに固定され、その先端内周部で転がり軸受２９を介して回転軸２２の先端部を回転自在に支持している。 The retaining member 21 is fixed to the pipe end portion 25a of the outer shell pipe 25, rotatably supports the front end portion of the rotary shaft 22 through the rolling bearing 29 at its distal end inner peripheral portion by a fixing pin 28.パイプエンド部２５ａは、外郭パイプ２５と別部材とし、溶接等により結合してもよい。 Pipe end portion 25a, the outer pipe 25 with another member, may be coupled by welding or the like.

外郭パイプ２５の内径面と回転軸２２の間には、互いに１２０度の位相にある周方向位置に、両端に貫通する３本のガイドパイプ３０が設けられている。 Between the inner surface and the rotary shaft 22 of the outer shell pipe 25, the circumferential position on the 120 degree phase with each other, three guide pipes 30 are provided to penetrate both ends.そして、各ガイドパイプ３０の内径孔であるガイド孔３０ａ内に、姿勢操作部材３１（３１Ｕ，３１Ｌ，３１Ｒ）が進退自在に挿通されている。 Then, the guide hole 30a to an inner diameter hole of the guide pipe 30, the posture control member 31 (31U, 31L, 31R) is inserted retractably.この例では、姿勢操作部材３１は、ワイヤからなり可撓性で長尺な中間力伝達部材３１ａと、その両端にそれぞれ配置され柱状の剛体からなる先端力伝達部材３１ｂおよび基端力伝達部材３１ｃとで構成される。 In this example, the attitude altering member 31 includes an elongated intermediate force transmitting member 31a of a flexible consist wire, the tip force transmitting member 31b and a proximal force transmitting member 31c made of a rigid columnar disposed respectively at both ends constituted by the.

先端力伝達部材３１ｂの先端は球面状で、その球面状の先端が、ハウジング１１の基端面１１に形成された径方向の溝部１１ｂの底面に当接している。 The tip of the tip force transmitting member 31b is spherical, its spherical tip is in contact with the bottom surface of the groove 11b in the radial direction formed in the proximal end face 11 of the housing 11.溝部１１ｂおよび先端力伝達部材３１ｂは回転防止機構３７を構成し、溝部１１ｂに挿入された先端力伝達部材３１ｂの先端部が溝部１１ｂの側面に当たることで、先端部材２がスピンドルガイド部３に対してスピンドル１３の中心線ＣＬ１回りに回転するのを防止している。 Grooves 11b and distal force transmitting member 31b constitute a rotation preventing mechanism 37, by the leading end portion of the inserted into the groove 11b distal force transmitting member 31b hits the side surface of the groove 11b, with respect to the tip member 2 is spindle guide section 3 It is prevented from rotating about line CL1 around the spindle 13 Te.基端力伝達部材３１ｃの基端も球面状で、その球面状の基端が、後記レバー４３ｂの側面に当接している。 The proximal end of the proximal force transmitting member 31c in a spherical shape, the spherical proximal end is in contact with the side surface of the below lever 43b.

また、外郭パイプ２５の内径面と回転軸２２の間には、前記ガイドパイプ３０とは別に、このガイドパイプ３０と同一ピッチ円Ｃ上に、複数本の補強シャフト３４が配置されている。 Between the inner surface and the rotary shaft 22 of the outer shell pipe 25, the separately from the guide pipe 30, the guide pipe 30 and the same pitch circle on C, a plurality of reinforcing shaft 34 is disposed.これらの補強シャフト３４は、スピンドルガイド部３の剛性を確保するためのものである。 These reinforcing shaft 34 is intended to ensure the rigidity of the spindle guide section 3.ガイドパイプ３０と補強シャフト３４の配列間隔は等間隔とされている。 Arrangement interval of the guide pipe 30 and the reinforcing shaft 34 is equally spaced.ガイドパイプ３０および補強シャフト３４は、外郭パイプ２５の内径面におよび前記転がり軸受２６の外径面に接している。 Guide pipe 30 and the reinforcing shaft 34 is in contact with the outer surface of the inner diameter surface and the rolling bearing 26 of the outer shell pipe 25.これにより、転がり軸受２６の外径面を支持している。 Thus, supporting the outer surface of the rolling bearing 26.

図１および図４に示すように、工具回転用駆動機構４ｂは、工具回転用駆動源４１を備える。 As shown in FIGS. 1 and 4, the tool rotation drive mechanism 4b is provided with a tool rotation drive source 41.工具回転用駆動源４１は、例えば電動モータであり、その出力軸４１ａが前記回転軸２２の基端に結合させてある。 Tool rotation drive source 41 is, for example, an electric motor, the output shaft 41a is are coupled to the proximal end of the rotary shaft 22.また、姿勢制御用駆動機構４ｃは、各姿勢変更部材３１（３１Ｕ，３１Ｌ，３１Ｒ）（図２（Ｂ））にそれぞれ対応する３個の姿勢制御用駆動源４２（４２Ｕ，４２Ｌ，４２Ｒ）を備える。 Moreover, the attitude control drive mechanism 4c, each position changing member 31 (31U, 31L, 31R) (see FIG. 2 (B)) to the corresponding three attitude control drive source 42 (42U, 42L, 42R) and provided.姿勢制御用駆動源４２は、例えば電動リニアアクチュエータであり、内蔵されている回転モータ（図示せず）の回転運動を、逆入力防止機構を兼ねる回転・直線運動変換機構４５を介して直線運動に変換し、出力ロッド４２ａに伝達する。 Attitude control drive source 42, for example an electric linear actuator, the rotary motion of the rotary motor is incorporated (not shown), into a linear motion through a rotary-linear motion conversion mechanism 45 which also serves as a reverse input prevention mechanism converted, is transmitted to the output rod 42a.出力ロッド４２ａは図１の左右方向に移動し、その出力ロッド４２ａの移動量すなわち姿勢制御用駆動源４２の動作量が、動作量検出器４６によって検出される。 The output rod 42a is moved in the lateral direction in FIG. 1, the operation amount of the moving amount i.e. attitude control drive source 42 of the output rod 42a is detected by the operation amount detector 46.

上記回転・直線運動変換機構４５としては、三角ねじや台形ねじ等の滑りねじ型の送りねじ機構を採用できる。 As the rotational-linear motion converting mechanism 45 can be employed slide screw type feed screw mechanism, such as a triangular screw thread or a trapezoidal screw.このような滑りねじ型の送りねじ機構を設けたことにより、姿勢制御用駆動源４２は、姿勢操作部材３１からの力で動作するのを防止する逆入力防止機能を有する。 By providing such a sliding screw type feed screw mechanism, the attitude control drive source 42 has a reverse input prevention function of preventing operation by a force from the attitude altering member 31.回転・直線運動変換機構４５としては、滑りねじ型の他に、ボールねじやラック・ピニオン機構等を用いてもよい。 The rotation-linear motion converting mechanism 45, in addition to the sliding screw type may be used a ball screw or a rack and pinion mechanism or the like.その場合は、逆入力防止機構を別に設けるのが望ましい。 In that case, the separately provided reverse input prevention mechanism is desired.この場合の逆入力防止機構としては、ウォームギア等が採用できる。 The reverse input prevention mechanism in this case, a worm gear or the like can be employed.その他、減速比の大きい減速機構も採用できる。 Other, larger speed reduction mechanism of the reduction ratio can also be employed.なお、逆入力防止機構は、必ずしも姿勢制御用駆動源４２に設ける必要はなく、姿勢制御用駆動機構４ｃのどこか、すなわち姿勢制御用駆動源４２と姿勢操作部材３１との間に設ければよい。 Incidentally, the reverse input prevention mechanism is not always necessary to provide the attitude control drive source 42, somewhere in the attitude control drive mechanism 4c, i.e. it is provided between the attitude control drive source 42 and the attitude altering member 31 good.

出力ロッド４２ａの直線運動は、増力伝達機構４３を介して姿勢操作部材３１に伝達される。 Linear movement of the output rod 42a is transmitted to the attitude altering member 31 via a force increasing transmission mechanism 43.増力伝達機構４３は、支軸４３ａ回りに回動自在なレバー４３ｂを有し、このレバー４３ｂにおける支軸４３ａからの距離が長い作用点Ｐ１に出力ロッド４２ａの力が作用し、支軸４３ａからの距離が短い力点Ｐ２で姿勢操作部材３１に力を与える構成であり、姿勢制御用駆動源４２の出力が増力して姿勢操作部材３１に伝達される。 Force increasing transmission mechanism 43 has a movable lever 43b rotates the support shaft 43a around, force acts in the output rod 42a is distance is long acting point P1 from the support shaft 43a in the lever 43b, the support shaft 43a distance is configured to apply a force to the attitude altering member 31 in a short force point P2, the output of the attitude control drive source 42 is transmitted to the attitude altering member 31 by energizing.レバー４３ｂの中間部には肉厚の薄い起歪部４３ｂａが設けられ、この起歪部４３ｂａの両側に起歪部４３ｂａに発生する歪みを検出する歪みセンサ４７が取付けられている。 The middle portion of the lever 43b is provided a thin strain generating portions 43ba thick, the strain sensor 47 for detecting the strain generated on both sides of the strain generating portion 43ba to the strain generating portion 43ba is attached.なお、回転軸２２は、レバー４３ｂに形成された開口４４を貫通させてある。 The rotating shaft 22, are passed through an opening 44 formed in the lever 43b.

コントローラ５は、コンピュータおよびこれに実行されるプログラムからなる制御装置５Ａと、上記コンピュータに対して入力する手動操作式の回転速度設定手段５０および姿勢設定手段５１とを備える。 The controller 5 includes a control unit 5A consisting of a program executed computers and thereto, a manually operated rotational speed setting means 50 and the posture setting section 51 for input to the computer.回転速度設定手段５０は、スピンドル１３の回転速度を設定するものである。 Rotational speed setting means 50 is for setting the rotational speed of the spindle 13.姿勢設定手段５１は、先端部材２のスピンドルガイド部３に対する目標姿勢を設定するものである。 Attitude setting unit 51 is for setting a target posture with respect to the spindle guide section 3 of the tip member 2.また、コントローラ５における制御装置５Ａは、上記コンピュータとプログラムとで、工具回転用駆動源４１を制御する工具回転制御手段５２と、各姿勢制御用駆動源４２を制御する姿勢制御手段５３と、先端部材２に作用する外力を推定する外力推定手段５４とが構成されている。 The controller 5A in the controller 5, in the above computer program, and the tool rotation control means 52 for controlling the tool rotation drive source 41, the posture control means 53 for controlling the respective attitude control drive source 42, the tip and the external force estimation means 54 for estimating the external force acting on the member 2 is constructed.

姿勢制御手段５３は、初期姿勢保持制御部５３ａと姿勢変更制御部５３ｂとでなる。 Attitude control means 53, consisting of the initial attitude holding control section 53a and the attitude change control unit 53b.これら初期姿勢保持制御部５３ａおよび姿勢変更制御部５３ｂは、前記姿勢設定手段５１からの入力等に応じてモータドライバ５６に出力し、姿勢制御用駆動源４２を駆動させる。 These initial attitude holding control section 53a and the attitude change control section 53b outputs to the motor driver 56 in accordance with the input or the like from the position setting unit 51, to drive the attitude control drive source 42.

初期姿勢保持制御部５３ａは、先端部材２を定められた初期姿勢で姿勢保持可能とする初期姿勢保持力を各姿勢操作部材３１に与えるように各姿勢制御用駆動源４２を制御する。 Initial attitude holding control unit 53a controls the drive source 42 for controlling the orientation so as to provide the initial attitude holding force of each posture control member 31, the posture can be held at an initial position defined the distal end member 2.初期姿勢は、例えばスピンドル１３の中心線ＣＬ１とスピンドルガイド部３の中心線ＣＬ２とが同一線となる姿勢である。 The initial posture, for example, a position where the center line CL2 of the center line CL1 and the spindle guide part 3 of the spindle 13 is the same line.先端部材２の姿勢は、先端部材２に作用する外力と各姿勢制御用駆動源４２の推力とのバランスによって決定される。 The attitude of the tip member 2 is determined by the balance between the thrust force and the attitude control drive source 42 acting on the distal end member 2.そこで、初期姿勢保持力を姿勢操作部材３１に与えるように各姿勢制御用駆動源４２を制御することで、先端部材２を初期姿勢に保持する。 Therefore, by controlling the drive source 42 for controlling the orientation so as to give an initial attitude holding force to the attitude operation member 31, for holding the tip member 2 to its initial position.姿勢制御用駆動源４２の推力によって、先端部材２の姿勢の維持、すなわち先端部材２の剛性確保を行うのである。 By thrust attitude control drive source 42, maintaining the attitude of the distal end member 2, that is, perform rigidity securing of the tip member 2.

姿勢変更制御部５３ｂは、各姿勢操作部材３１が互いに連係して進退して先端部材２を姿勢変更させるように各姿勢制御用駆動源４２を制御する。 The attitude change control unit 53b controls the driving source 42 for controlling the orientation so that each posture control member 31 causes the posture change tip member 2 moves forward and backward in conjunction with each other.例えば、図２における上側の１つの姿勢操作部材３１Ｕを先端側へ進出させ、かつ他の２つの姿勢操作部材３１Ｌ，３１Ｒを後退させると、上側の姿勢操作部材３１Ｕによって先端部材２のハウジング１１が押されることにより、先端部材２は図２（Ａ）において先端側が下向きとなる側へ案内面Ｆ１，Ｆ２に沿って姿勢変更する。 For example, one attitude altering member 31U of the upper side in FIG. 2 is advanced distally, and the other two attitude altering member 31L, retracting the 31R, housing 11 of the tip member 2 by the upper attitude altering member 31U is by being pushed, the tip member 2 is altered in attitude along the guide surfaces F1, F2 with the tip end side facing downward in FIG. 2 (a).各姿勢操作部材３１を逆に進退させると、左右の姿勢操作部材３１Ｌ，３１Ｒによって先端部材２のハウジング１１が押されることにより、先端部材２は図２（Ａ）において先端側が上向きとなる側へ案内面Ｆ１，Ｆ２に沿って姿勢変更する。 When advancing and retracting the respective attitude altering member 31 in the opposite, left and right attitude altering member 31L, the housing 11 for the distal end member 2 is pushed by 31R, the tip member 2 is FIG 2 (A) leading end side to the side facing upward in altered in attitude along the guide surfaces F1, F2.

また、上側の姿勢操作部材３１Ｕは静止させた状態で、左側の姿勢操作部材３１Ｌを先端側へ進出させ、かつ右側の姿勢操作部材３１Ｒを後退させると、左側の姿勢操作部材３１Ｌによって先端部材２のハウジング１１が押されることにより、先端部材２は右向き、すなわち図２（Ａ）において紙面の裏側向きとなる側へ案内面Ｆ１，Ｆ２に沿って姿勢変更する。 Further, in a state the upper attitude altering member 31U which is stationary, is advanced to the left of the attitude altering member 31L distally and retracting the right attitude altering member 31R, the distal end by the left attitude altering member 31L member 2 by the housing 11 is pushed, the tip member 2 is right, that is altered in attitude along the guide surfaces F1, F2 to the side surface of the drawing sheet of rear-facing in FIG 2 (a).左右の姿勢操作部材３１Ｌ，３１Ｒを逆に進退させると、右の姿勢操作部材３１Ｒによって先端部材２のハウジング１１が押されることにより、先端部材２は左向きとなる側へ案内面Ｆ１，Ｆ２に沿って姿勢変更する。 Left and right attitude altering member 31L, when advancing and retracting the 31R Conversely, the housing 11 for the distal end member 2 is pushed by the right attitude altering member 31R, the distal end member 2 along the guide surface F1, F2 to the side to be left attitude change Te to.

上記先端部材２の姿勢変更制御において、先端部材２の姿勢は、先端部材２が初期姿勢にあるときの姿勢操作部材３１の位置を原点位置として、この原点位置に対する姿勢操作部材３１の進退量に応じて決定される。 In the attitude change control of the tip member 2, the posture tip member 2, the position of the attitude altering member 31 when the tip member 2 is in the initial position as the origin position, the advance and retreat of the posture control member 31 relative to the origin position It is determined in accordance with.具体的には、姿勢変更制御部５３ｂは、姿勢設定手段５１で設定された先端部材２の目標姿勢をそれに相当する姿勢操作部材３１の進退量に変換し、その変換した進退量に応じて姿勢制御用駆動源４２の動作量を変化させる。 Specifically, the attitude change control unit 53b converts the target attitude of the distal end member 2 set in a posture setting section 51 to advance and retreat of the posture control member 31 corresponding thereto, in accordance with the converted reciprocating amount posture changing the operation amount of the control drive source 42.このように、姿勢操作部材３１の進退量に応じて姿勢制御用駆動源４２の動作量を変化させれば、先端部材２の姿勢変更制御が単純化されて容易である。 In this way, by changing the operation amount of the attitude control drive source 42 in accordance with the advance and retreat of the posture control member 31, it is easier simplifies the attitude change control of the distal end member 2.

ところで、姿勢操作部材３１の中間力伝達部材３１ａは、細くて長く可撓性であるため、外力によって進退方向に伸縮する。 Incidentally, the intermediate force transmitting member 31a of the posture control member 31 are the thin and long flexible and stretchable in the moving direction by an external force.つまり、姿勢操作部材３１は、図５に示すようなばね系であると見なせる。 That is, the attitude altering member 31 can be regarded as a spring system as shown in FIG.同図において、中間力伝達部材３１ａは、剛体３１ａａおよび一対のばね３１ａｂ，３１ａｃで表してある。 In the figure, the intermediate force transmitting member 31a is rigid 31aa and a pair of springs 31ab, is represented by 31ac.図５のＡ部は、姿勢操作部材３１が基端側（右側）へ移動後、静止した状態を示す。 A portion of Figure 5, after moving attitude altering member 31 is the base end side (right side) shows a stationary state.また、図５のＢ部は、姿勢操作部材３１が先端側（左側）へ移動後、静止した状態を示す。 Also, B part of FIG. 5, after the moving attitude altering member 31 to the front end side (left side) shows a stationary state.姿勢操作部材３１を駆動する駆動力の大きさはどちらも同じである。 The magnitude of the driving force which drives the attitude altering member 31 is the same for both.図中のｆ１は先端力伝達部材３１ｂとガイド孔３０ａの内周面との間に生じる摩擦力、ｆ２は中間力伝達部材３１ａとガイド孔３０ａの内周面との間に生じる摩擦力、ｆ３は基端力伝達部材３１ｃとガイド孔３０ａの内周面との間に生じる摩擦力、Ｋはばね３１ａｂ，３１ａｃのばね定数である。 Frictional force generated between the inner peripheral surface of f1 in the drawing tip force transmitting member 31b and the guide hole 30a, f2 is the frictional force generated between the intermediate force the inner circumferential surface of the transfer member 31a and the guide hole 30a, f3 the frictional force generated between the inner peripheral surface of the proximal end force transmitting member 31c and the guide hole 30a, K is the spring 31ab, the spring constant of 31ac.

姿勢操作部材３１を駆動する駆動力の大きさが同じであっても、図示のように、姿勢操作部材３１が基端側へ移動する場合の方が、先端側へ移動する場合よりも、姿勢操作部材３１の先端の移動量が大きくなる。 Even attitude altering member 31 the magnitude of the driving force for driving the same, as shown, towards the case of the attitude operation member 31 is moved toward the proximal end side, than when moving distally, posture the movement of the tip of the operation member 31 is increased.これは、姿勢操作部材３１の進退の方向によって前記摩擦力ｆ１，ｆ２，ｆ３の向きが変わることによるもので、移動量の差ΔＬは、ΔＬ＝｛２（ｆ２＋２・ｆ１）｝／Ｋで表される。 Table In This is due to the change the direction of the frictional force f1, f2, f3 by the direction of advance and retreat of the attitude altering member 31, a difference [Delta] L of the amount of movement, ΔL = {2 (f2 + 2 · f1)} / K It is.

また、姿勢操作部材３１が基端側へ移動する場合は、先端部材２に対する作用力が減少するため、姿勢操作部材３１と先端部材２との接触部の摩擦がほとんど無いが、姿勢操作部材３１が先端側へ移動する場合は、先端部材２に対する作用力が増大するため、姿勢操作部材３１と先端部材２との接触部の摩擦が大きい。 Further, when the posture control member 31 is moved toward the proximal end, since the acting force against the distal end member 2 is reduced, but there is little friction between the contact portion between the attitude altering member 31 and the distal end member 2, the posture control member 31 If is moving to the tip side, since the acting force against the distal end member 2 is increased, a large friction of the contact portion between the attitude altering member 31 and the distal end member 2.このことも、姿勢操作部材３１の先端の移動量に差ΔＬが生じる要因になる。 This also becomes a factor for the difference ΔL occurs in the movement amount of the distal end of the posture control member 31.

先端部材２の姿勢は、各姿勢操作部材３１の先端の相対位置によって決定される。 The attitude of the tip member 2 is determined by the relative position of the tip of each posture control member 31.上記のように、姿勢操作部材３１の進退状況によって姿勢操作部材３１の先端の移動量に差ΔＬがあると、先端部材２の姿勢変更制御の精度に影響する。 As described above, when there is a difference ΔL to the amount of movement of the tip of the attitude altering member 31 by advancing and retracting the context of the attitude altering member 31, affect the accuracy of the attitude change control of the distal end member 2.そこで、姿勢変更制御部５３ｂでは、後段で説明するように、先端部材２の姿勢変更のため姿勢操作部材３１を基準位置から目標位置へ移動させるとき、定められた規則Ｒに従い、一時的に姿勢操作部材３１を目標位置から遠ざかる側に移動させるようにしている。 Therefore, the attitude change control unit 53b, as described later, when moving the attitude altering member 31 for attitude changes of the distal end member 2 from the reference position to the target position, according to the rules stipulated R, temporarily posture the operating member 31 is to be moved to the side away from the target position.基準位置は、動作開始位置つまり動作開始直前の現在位置のことであり、原点位置とは限らない。 Reference position is that the operation start position that is operation start current position just before, not necessarily the origin position.これにより、上記姿勢操作部材３１の先端の移動量に差が生じる要因が排除され、常に一定の精度で先端部材２の姿勢変更制御を行える。 Thus, the posture control member 31 tip is a difference in moving amount of the exclusion factor resulting in, always perform the attitude change control of the distal end member 2 with certain accuracy.この姿勢変更制御には幾通りかの手法がある。 This attitude change control there are several ways technique.以下に説明する各手法では、先端部材２をＸ軸（図２（Ｂ））回りに上向きに屈曲させて、図２（Ａ）の初期姿勢状態から図３の状態にする場合を例にする。 Each technique described below, the distal end member 2 X-axis (FIG. 2 (B)) upwardly bent around, as an example a case where the state of FIG. 3 from the initial position state shown in FIG. 2 (A) .前記定められた規則Ｒは、以下の何れかの手法で制御するものとされる。 The established rules R is assumed to be controlled by any of the following methods.

図６〜図８と共に、姿勢変更制御の第１の手法を説明する。 With 6 to 8, illustrating a first method of attitude change control.図６（Ａ）は、屈曲動作前の状態を示す。 FIG 6 (A) shows a state before bending operation.このときの先端部材２の姿勢は初期姿勢であり、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端は基準位置Ｐ０にある。 Attitude of the distal end member 2 at this time is the initial position, the attitude altering member 31U, 31L, 31R of the base end is in the reference position P0.この状態から、第１過程により、姿勢操作部材３１Ｕを先端部材２に対する作用力が減少する側に後退させ、姿勢操作部材３１Ｌ，３１Ｒを先端部材２に対する作用力が増大する側に前進させる。 From this state, the first step, is retracted to the side acting force to reduce the attitude altering member 31U relative to the distal end member 2, attitude altering member 31L, acting force against the distal end member 2 the 31R to advance to the increase side.図６（Ｂ）のように、姿勢操作部材３１Ｕについては、目標位置Ｐ１を越えた位置Ｐ１ａまで後退させ、姿勢操作部材３１Ｌ，３１Ｒについては、目標位置Ｐ２の手前の位置Ｐ２ａまでとする。 As shown in FIG. 6 (B), the for attitude altering member 31U, retracted to a position P1a beyond the target position P1, attitude altering member 31L, for 31R, and to the front position P2a target position P2.上記位置Ｐ１ａ，Ｐ２ａは、試験または計算により求められる。 The position P1a, P2a is determined by testing or calculation.次に、図６（Ｃ）のように、第２過程により、姿勢操作部材３１Ｕを前進させて目標位置Ｐ１に停止させ、かつ姿勢操作部材３１Ｌ，３１Ｒを前進させて目標位置Ｐ２に停止させる。 Next, as shown in FIG. 6 (C), the the second step, to advance the attitude altering member 31U is stopped at the target position P1, and attitude altering member 31L, to advance the 31R stops at the target position P2.これで、姿勢変更が完了する。 Now, attitude change is completed.なお、図６（Ａ），（Ｂ），（Ｃ）は、図２（Ｂ）のVI−ＣＬ２−VI断面を簡略化して表した図である。 Incidentally, FIG. 6 (A), (B), (C) is a diagram showing a simplified VI-CL2-VI section of FIG. 2 (B).図９、図１２、図１５についても同様である。 9, FIG. 12 is the same for Figure 15.

図７は、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端位置の変化を示すタイムチャートである。 Figure 7 is a time chart showing the attitude altering member 31U, 31L, a change in the 31R in proximal position.また、図８は、先端部材２の先端の変位量を示すタイムチャートである。 8 is a time chart showing the amount of displacement of the tip of the tip member 2.ｈは目標とする先端部材２の変位量である。 h is the displacement of the tip member 2 to be a target.これらの図におけるｔ１は第１過程終了時刻であり、ｔ２は第２過程終了時刻である。 The t1 in these figures is a first step end time, t2 is a second process end time.

この手法によれば、第１の過程で姿勢操作部材３１Ｕを目標位置Ｐ１を越えた位置Ｐ１ａまで後退させることで、姿勢操作部材３１Ｕと姿勢操作部材３１Ｌ，３１Ｒとの変位差を一時的に大きくする。 According to this method, by retracting the attitude altering member 31U in the first step to a position P1a beyond the target position P1, the attitude altering member 31U and the attitude altering member 31L, temporarily increase the displacement difference between the 31R to.その後、第２の過程により、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒが同じ方向に移動して動作を完了する。 Thereafter, the second step, the attitude altering member 31U, 31L, 31R complete the operation by moving in the same direction.このように、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒを同じ方向に移動して動作を完了させれば、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒに作用する摩擦力の方向が一定になり、摩擦力による各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの伸縮量も一定になる。 Thus, each posture control member 31U, 31L, when caused to complete the operation by moving the 31R in the same direction, each posture control member 31U, 31L, the direction of the frictional force acting 31R becomes constant, the frictional force each attitude altering member 31U by, 31L, expansion and contraction amounts of 31R becomes constant.そのため、常に一定の精度で先端部材２の姿勢変更制御を行える。 Therefore, always perform the attitude change control of the distal end member 2 with certain accuracy.

なお、姿勢操作部材３１Ｕの後退量が大きくなると、姿勢操作部材３１Ｕの先端が先端部材２に付与する予圧が低下し、先端部材２の姿勢保持力が低下する。 Incidentally, when the retraction amount of the attitude altering member 31U is increased, decreased preload the tip of the attitude altering member 31U is applied to the distal end member 2, the posture holding force of the tip member 2 is reduced.そのため、姿勢操作部材３１Ｕを後退させる位置Ｐ１ａは、上記予圧の低下を考慮して設定する。 Therefore, the position P1a of retracting the attitude altering member 31U is set in consideration of the decrease of the preload.

図９〜図１１と共に、姿勢変更制御の第２の手法を説明する。 With 9 to 11, illustrating a second technique for attitude change control.図９（Ａ）は、屈曲動作前の状態を示す。 Figure 9 (A) shows a state before bending operation.このときの先端部材２の姿勢は初期姿勢であり、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端は基準位置Ｐ０にある。 Attitude of the distal end member 2 at this time is the initial position, the attitude altering member 31U, 31L, 31R of the base end is in the reference position P0.この状態から、第１過程により、姿勢操作部材３１Ｕを先端部材２に対する作用力が減少する側に後退させ、姿勢操作部材３１Ｌ，３１Ｒを先端部材２に対する作用力が増大する側に前進させる。 From this state, the first step, is retracted to the side acting force to reduce the attitude altering member 31U relative to the distal end member 2, attitude altering member 31L, acting force against the distal end member 2 the 31R to advance to the increase side.図９（Ｂ）のように、姿勢操作部材３１Ｕについては、目標位置Ｐ１を越えた位置Ｐ１ａまで後退させ、姿勢操作部材３１Ｌ，３１Ｒについては、目標位置Ｐ２まで前進させる。 As shown in FIG. 9 (B), the for attitude altering member 31U, retracted to a position P1a beyond the target position P1, attitude altering member 31L, for 31R, is advanced to the target position P2.上記位置Ｐ１ａは、試験または計算により求められる。 It said position P1a is determined by testing or calculation.次に、図９（Ｃ）のように、第２過程により、姿勢操作部材３１Ｕを前進させて目標位置Ｐ１に停止させる。 Next, as shown in FIG. 9 (C), the the second step, to advance the attitude altering member 31U is stopped at the target position P1.これで、姿勢変更が完了する。 Now, attitude change is completed.

図１０は、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端位置の変化を示すタイムチャートである。 Figure 10 is a time chart showing the attitude altering member 31U, 31L, a change in the 31R in proximal position.また、図１１は、先端部材２の先端の変位量を示すタイムチャートである。 Further, FIG. 11 is a time chart showing the amount of displacement of the tip of the tip member 2.ｈは目標とする先端部材２の変位量である。 h is the displacement of the tip member 2 to be a target.これらの図におけるｔ１は第１過程終了時刻であり、ｔ２は第２過程終了時刻である。 The t1 in these figures is a first step end time, t2 is a second process end time.

この手法が前記第１の手法と異なる点は、第１の過程で姿勢操作部材３１Ｌ，３１Ｒを目標位置Ｐ２まで移動させることである。 This approach is the first method differs from the first step in the attitude altering member 31L, it is to move the 31R to the target position P2.そのため、第１の手法と比較して、先端部材２の予圧低下を緩和しつつ、姿勢操作部材３１Ｕと姿勢操作部材３１Ｌ，３１Ｒとの変位差を大きくすることができる。 Therefore, compared with the first method, while alleviating the preload reduction of the distal end member 2, it is possible to position the operating member 31U and the attitude altering member 31L, a displacement difference between the 31R is increased.また、第１の手法と同様に、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒに作用する摩擦力の方向が一定にできる。 Similar to the first technique, the attitude altering member 31U, 31L, the direction of the frictional force acting 31R can be made constant.したがって、第２の手法によっても、常に一定の精度で先端部材２の姿勢変更制御を行える。 Therefore, by the second technique, always perform the attitude change control of the distal end member 2 with certain accuracy.

図１２〜図１４と共に、姿勢変更制御の第３の手法を説明する。 With 12 to 14, illustrating a third method of attitude change control.図１２（Ａ）は、屈曲動作前の状態を示す。 Figure 12 (A) shows a state before bending operation.このときの先端部材２の姿勢は初期姿勢であり、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端は基準位置Ｐ０にある。 Attitude of the distal end member 2 at this time is the initial position, the attitude altering member 31U, 31L, 31R of the base end is in the reference position P0.この状態から、第１過程により、姿勢操作部材３１Ｕを先端部材２に対する作用力が減少する側に後退させ、姿勢操作部材３１Ｌ，３１Ｒを先端部材２に対する作用力が増大する側に前進させる。 From this state, the first step, is retracted to the side acting force to reduce the attitude altering member 31U relative to the distal end member 2, attitude altering member 31L, acting force against the distal end member 2 the 31R to advance to the increase side.図１２（Ｂ）のように、姿勢操作部材３１Ｕについては、目標位置Ｐ１を越えた位置Ｐ１ａまで後退させ、姿勢操作部材３１Ｌ，３１Ｒについては、目標位置Ｐ２の手前の位置Ｐ２ａまでとする。 As shown in FIG. 12 (B), the for attitude altering member 31U, retracted to a position P1a beyond the target position P1, attitude altering member 31L, for 31R, and to the front position P2a target position P2.次に、図１２（Ｃ）のように、第２過程により、姿勢操作部材３１Ｕを前進させて目標位置Ｐ１の手前の位置Ｐ１ｂまで前進させ、かつ姿勢操作部材３１Ｌ，３１Ｒを前進させて目標位置Ｐ２に停止させる。 Next, as shown in FIG. 12 (C), the the second step, to advance the attitude altering member 31U is advanced to a position short of P1b of the target position P1, and attitude altering member 31L, the target position is moved forward to 31R P2 to be stopped.上記位置Ｐ１ａ，Ｐ１ｂ，Ｐ２ａは、試験または計算により求められる。 The position P1a, P1b, P2a is determined by testing or calculation.さらに、第３の過程により、姿勢操作部材３１Ｕだけを前進させて目標位置Ｐ１に停止させる。 Furthermore, by the third process, it is advanced only attitude altering member 31U is stopped at the target position P1.これで、姿勢変更が完了する。 Now, attitude change is completed.

図１３は、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端位置の変化を示すタイムチャートである。 Figure 13 is a time chart showing the attitude altering member 31U, 31L, a change in the 31R in proximal position.また、図１４は、先端部材２の先端の変位量を示すタイムチャートである。 Further, FIG. 14 is a time chart showing the amount of displacement of the tip of the tip member 2.ｈは目標とする先端部材２の変位量である。 h is the displacement of the tip member 2 to be a target.これらの図におけるｔ１は第１過程終了時刻であり、ｔ２は第２過程終了時刻、ｔ３は第３過程終了時刻である。 The t1 in these figures is a first step end time, t2 is a second process end time, is t3 is a third process end time.

この手法は、前記第１の手法と第２の手法の中間的な制御手法であり、作用・効果も中間的である。 This technique is intermediate control method of the first method and the second method, operation and effect are also intermediate.この場合も、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒに作用する摩擦力の方向が一定にできるため、常に一定の精度で先端部材２の姿勢変更制御を行える。 Again, the attitude altering member 31U, 31L, since it in constant direction of the frictional force acting on the 31R, always perform the attitude change control of the distal end member 2 with certain accuracy.

図１５〜図１７と共に、姿勢変更制御の第４の手法を説明する。 With 15 to 17, illustrating a fourth method of attitude change control.図１５（Ａ）は、屈曲動作前の状態を示す。 FIG. 15 (A) shows a state before bending operation.このときの先端部材２の姿勢は初期姿勢であり、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端は基準位置Ｐ０にある。 Attitude of the distal end member 2 at this time is the initial position, the attitude altering member 31U, 31L, 31R of the base end is in the reference position P0.この状態から、第１過程により、姿勢操作部材３１Ｕを先端部材２に対する作用力が減少する側に後退させ、姿勢操作部材３１Ｌ，３１Ｒを先端部材２に対する作用力が増大する側に前進させる。 From this state, the first step, is retracted to the side acting force to reduce the attitude altering member 31U relative to the distal end member 2, attitude altering member 31L, acting force against the distal end member 2 the 31R to advance to the increase side.図１５（Ｂ）のように、姿勢操作部材３１Ｕについては、目標位置Ｐ１を越えた位置Ｐ１ａまで後退させ、姿勢操作部材３１Ｌ，３１Ｒについては、目標位置Ｐ２を越えた位置Ｐ２ｂで前進させる。 As in FIG. 15 (B), for the attitude altering member 31U, retracted to a position P1a beyond the target position P1, attitude altering member 31L, for 31R, advances at a position P2b beyond the target position P2.上記位置Ｐ１ａ，Ｐ２ｂは、試験または計算により求められる。 The position P1a, P2b is determined by testing or calculation.次に、図１５（Ｃ）のように、第２過程により、姿勢操作部材３１Ｕを前進させて目標位置Ｐ１に停止させ、かつ姿勢操作部材３１Ｌ，３１Ｒを後退させて目標位置Ｐ２に停止させる。 Next, as shown in FIG. 15 (C), the second step, to advance the attitude altering member 31U is stopped at the target position P1, and attitude altering member 31L and retracting the 31R stops at the target position P2.これで、姿勢変更が完了する。 Now, attitude change is completed.

図１６は、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒの基端位置の変化を示すタイムチャートである。 Figure 16 is a time chart showing the attitude altering member 31U, 31L, a change in the 31R in proximal position.また、図１７は、先端部材２の先端の変位量を示すタイムチャートである。 Further, FIG. 17 is a time chart showing the amount of displacement of the tip of the tip member 2.ｈは目標とする先端部材２の変位量である。 h is the displacement of the tip member 2 to be a target.これらの図におけるｔ１は第１過程終了時刻であり、ｔ２は第２過程終了時刻である。 The t1 in these figures is a first step end time, t2 is a second process end time.ここで、図１７では、先端位置の変位量がｔ１からｔ２までの間、ｈのまま変化していないが、Ｐ１ａ，Ｐ２ｂの設定が適切でない場合、時間とともに変位量が増加または増加することもある。 In FIG. 17, during displacement of the tip position from t1 to t2, is not change from h, P1a, when setting P2b is not appropriate, also the displacement amount increases or increase with time is there.

この手法は、前記第２の手法と異なり、第１の過程で姿勢操作部材３１Ｌ，３１Ｒを目標位置Ｐ２を越えた位置Ｐ２ｂまで前進させる。 This approach, unlike the second method, the first step in the attitude altering member 31L, to advance the 31R to the position P2b beyond the target position P2.そのため、第２の手法と比較して、先端部材２の予圧の減衰量を抑えつつ、姿勢操作部材３１Ｕと姿勢操作部材３１Ｌ，３１Ｒとの変位差を大きくすることができ、先端部材２の角度屈曲量を大きくできる。 Therefore, as compared with the second method, while suppressing the attenuation of the preload of the tip member 2, it is possible to position the operating member 31U and the attitude altering member 31L, a displacement difference between the 31R is increased, the angle of the tip member 2 the amount bending can be increased.この場合も、各姿勢操作部材３１Ｕ，３１Ｌ，３１Ｒに作用する摩擦力の方向が一定にできるため、常に一定の精度で先端部材２の姿勢変更制御を行える。 Again, the attitude altering member 31U, 31L, since it in constant direction of the frictional force acting on the 31R, always perform the attitude change control of the distal end member 2 with certain accuracy.

なお、第１の過程終了時における姿勢操作部材３１Ｌ，３１Ｒの前進量が大きすぎると、先端部材２が一時的に目標とする角度θを大きく越えて屈曲する可能性がある。 Incidentally, the attitude altering member 31L at the end the first step, the forward of 31R is too large, the tip member 2 is likely to flex well beyond the angle θ to temporarily goals.そのため、姿勢操作部材３１Ｌ，３１Ｒを前進させる位置Ｐ２ｂは、上記先端部材２の一時的な変位の増大を考慮して設定する。 Therefore, the position P2b advancing attitude altering member 31L, the 31R is set in consideration of the increase in the temporary displacement of the tip member 2.なお、角度θは、先端部材２の先端の変位量がｈであるときの、先端部材２の角度である。 The angle theta, when the displacement amount of the tip end of the tip member 2 is h, and the angle of the tip member 2.

上記姿勢変更制御の際、動作量検出器４６によって検出された姿勢制御用駆動源４２の動作量を姿勢変更制御部５３ｂにフィードバックして、制御を行う。 During the posture change control, by feeding back the amount of operation of the operation amount detector 46 attitude control drive source 42 detected by the posture change control section 53b, it performs a control.動作量検出器４６が設けられていると、姿勢制御用駆動源４２の動作量を正確に検出することができ、その出力を姿勢変更制御部５３ｂにフィードバックすることで、姿勢変更制御を精度良く行うことができる。 When the operation amount detector 46 is provided, it is possible to accurately detect the amount of operation of the attitude control drive source 42, by feeding back the output to the attitude change control unit 53b, precisely the attitude change control It can be carried out.

外力推定手段５４は、先端部材２に作用する外力と前記歪みセンサ４７の出力信号との関係を演算式またはテーブル等により設定した関係設定手段（図示せず）を有し、歪みセンサ４７から入力された信号から前記関係設定手段を用いて先端部材２に作用する外力を推定する。 External force estimation means 54 includes a relation setting means set by the arithmetic expression or a table or the like the relationship between the output signal of the external force with the strain sensor 47 which acts on the distal end member 2 (not shown), input from the distortion sensor 47 estimating the external force acting on the tip member 2 by using the relation setting means from the signal that is.

この遠隔操作型アクチュエータの動作を説明する。 The operation of the remote controlled actuator is described.工具回転用駆動源４１を駆動すると、その回転が回転軸２２を介してスピンドル１３に伝達されて、スピンドル１３と共に工具１が回転する。 Driving tool rotation drive source 41, the rotation is transmitted to the spindle 13 via a rotary shaft 22, the tool 1 is rotated together with the spindle 13.この回転する工具１により、骨等を切削が行われる。 The tool 1 of this rotation, the cutting is performed such as bone.先端部材２が静止状態の初期姿勢にあるときは、初期姿勢保持制御部５３ａにより各姿勢制御用駆動源４２を制御し、各姿勢操作部材３１に初期姿勢保持力を与える。 When the distal end member 2 is in the initial position of the quiescent state, it controls the drive source 42 for controlling the posture by initial attitude hold control section 53a, providing an initial attitude holding force to the respective attitude altering member 31.それにより、先端部材２に作用する力のバランスが保たれて、先端部材２の姿勢が維持される。 Thereby, it is balanced forces acting on the distal end member 2, the attitude of the distal end member 2 is maintained.

使用時には、姿勢変更制御部５３ｂにより姿勢変更用駆動源４２を制御して、先端部材２の姿勢変更を行う。 In use, by controlling the drive source 42 for posture change by the posture change control section 53b, it performs a posture change of the tip member 2.この先端部材２の姿勢変更制御には前記第１〜第４の手法のうちいずれかが適用されるが、どの手法であっても、各姿勢操作部材３１の先端の移動量に差が生じないため、常に一定の精度で先端部材２の姿勢変更制御を行える。 This is the attitude change control of the distal end member 2 either one of the first to fourth approach can be applied, regardless of method, the difference does not occur to the amount of movement of the tip of each posture control member 31 Therefore, always perform the attitude change control of the distal end member 2 with certain accuracy.先端部材２の姿勢は、動作量検出器４５の検出値から、姿勢検出手段４６によって検出される。 Attitude of the distal end member 2, from the detection value of the operation amount detector 45, is detected by the attitude detection means 46.そのため、遠隔操作で先端部材２の姿勢を適正に制御できる。 Therefore, it can be properly control the attitude of the tip member 2 by remote control.

切削加工中に工具１や先端部材２に外力が作用すると、その力が姿勢操作部材３１を介して増力伝達機構４３のレバー４３ｂに伝わり、レバー４３ｂの脆弱部である起歪部４３ｂａに歪みが生じる。 When an external force is applied to the tool 1 and the tip member 2 in cutting, transmitted to the lever 43b of the force increasing transmission mechanism 43 the force through the attitude operation member 31, the strain in the strain generating portion 43ba is vulnerable portion of the lever 43b occur.この歪みが歪みセンサ４７に検出され、その出力信号が外力推定手段５４に送信される。 This distortion is detected in the strain sensor 47, the output signal is transmitted to the external force estimation means 54.外力推定手段５４は、この歪みセンサ４７の出力信号から先端部材２に作用する外力を推定する。 External force estimating means 54 estimates the external force acting on the tip member 2 from the output signal of the strain sensor 47.このように推定される外力の大きさに応じて遠隔操作型アクチュエータ全体の送り量や先端部材２の姿勢変更を制御することにより、先端部材２に作用する外力を適正に保った状態で、安全かつ正確に骨の切削加工を行える。 By thus controlling the attitude change of the remote controlled actuator entire feed amount and the tip member 2 in accordance with the magnitude of the estimated external force, while maintaining a proper external force acting on the distal end member 2, safety and accurately perform the cutting of the bone.

また、先端部材２がスピンドルガイド部３に対して先端部材２の中心線ＣＬ１回りに回転するのを防止する回転防止機構３７が設けられているため、姿勢操作部材３１の進退を制御する姿勢操作用駆動機構４ｃや姿勢制御手段５３の故障等により工具１を保持する先端部材２が制御不能となった場合でも、先端部材２が中心線ＣＬ１回りに回転して加工箇所の周りを傷つけたり、先端部材２自体が破損したりすることを防止できる。 Further, since the rotation preventing mechanism 37 of the tip member 2 is prevented from rotating about line CL1 around the distal end member 2 with respect to the spindle guide part 3 is provided, the attitude operation of controlling the advancing and retracting of the attitude altering member 31 the failure of the use drive mechanisms 4c and attitude control means 53, even when the tip member 2 for holding the tool 1 becomes uncontrollable, or damage around the machining point tip member 2 is rotated in the centerline CL1 around, possible to prevent the distal end member 2 itself is damaged.

姿勢操作部材３１はガイド孔３０ａに挿通されているため、姿勢操作部材３１が長手方向と交差する方向に位置ずれすることがなく、常に先端部材２に対し適正に作用することができ、先端部材２の姿勢変更動作が正確に行われる。 Since the attitude altering member 31 is inserted into the guide hole 30a, without the attitude operation member 31 is positioned displaced in a direction intersecting the longitudinal direction, it is possible to always act properly to the tip member 2, the tip member 2 of attitude change operation is performed accurately.また、姿勢操作部材３１を構成する姿勢操作ワイヤ３１ａは可撓性であるため、スピンドルガイド部３が湾曲部を有する場合でも先端部材２の姿勢変更動作が確実に行われる。 Moreover, since the attitude operation wire 31a constituting the attitude altering member 31 is flexible, the posture changing behavior of the distal end member 2 even when the spindle guide section 3 has a curved portion is reliably performed.さらに、スピンドル１３と回転軸２２との連結箇所の中心が案内面Ｆ１，Ｆ２の曲率中心Ｏと同位置であるため、先端部材２の姿勢変更によって回転軸２２に対して押し引きする力がかからず、先端部材２が円滑に姿勢変更できる。 Furthermore, since the center of the connecting portion between the spindle 13 and the rotary shaft 22 is the center of curvature O at the same position of the guide surfaces F1, F2, press pulling forces Do with respect to the rotation shaft 22 by the posture change of the tip member 2 Karraz, the distal end member 2 can be smoothly attitude change.

この遠隔操作型アクチュエータを、例えば人工関節置換手術にいて骨の髄腔部を削るのに使用されるものであり、施術時には、先端部材２の全部または一部が患者の体内に挿入される。 The remote controlled actuator, and for example those used to sharpen marrow cavity of the bone are in joint replacement surgery, at the time of treatment, all or a portion of the tip member 2 is inserted into the patient.このため、上記のように先端部材２の姿勢を遠隔操作で変更できれば、常に工具１を適正な姿勢に保持した状態で骨の加工をすることができ、人工関節挿入用穴を精度良く仕上げることができる。 Therefore, if change remotely the attitude of the distal end member 2 as described above, to always the tool 1 can be processed bone while maintaining the proper orientation, finished accurately artificial joint insertion hole can.

細長形状であるスピンドルガイド部３には、回転軸２２および姿勢操作部材３１を保護状態で設ける必要があるが、外郭パイプ２５の中心部に回転軸２２を設け、外郭パイプ２５と回転軸２２との間に、姿勢操作部材３１を収容したガイドパイプ３０と補強シャフト３４とを円周方向に並べて配置した構成としたことにより、回転軸２２および姿勢操作部材３１を保護し、かつ内部を中空化して軽量化を図りつつ剛性を確保できる。 The spindle guide part 3 is elongated, it is necessary to provide the rotary shaft 22 and the attitude altering member 31 in a protected state, the rotary shaft 22 provided in the center portion of the outer pipe 25, the outer pipe 25 and the rotary shaft 22 between, with the construction of arranging side by side a guide pipe 30 which accommodates the attitude altering member 31 and the reinforcing shaft 34 in the circumferential direction, to protect the rotary shaft 22 and the attitude altering member 31, and to the hollow of the interior the rigidity can be secured while reducing the weight of Te.また、全体のバランスも良い。 In addition, it may be the entire balance.

回転軸２２を支持する転がり軸受２６の外径面を、ガイドパイプ３０と補強シャフト３４とで支持させたため、余分な部材を用いずに転がり軸受２６の外径面を支持できる。 The outer surface of the rolling bearing 26 for supporting the rotation shaft 22, due to being supported by the guide pipe 30 and the reinforcing shaft 34, to support the outer surface of the rolling bearing 26 without using an extra member.また、ばね要素２７Ａ，２７Ｂにより転がり軸受２６に予圧がかけられているため、ワイヤからなる回転軸２２を高速回転させることができる。 Further, spring elements 27A, since the preload to the rolling bearing 26 is multiplied by 27B, the rotary shaft 22 made of wire can be rotated at a high speed.そのため、スピンドル１３を高速回転させて加工することができ、加工の仕上がりが良く、工具１に作用する切削抵抗を低減させられる。 Therefore, the spindle 13 is rotated at a high speed can be processed, often working in the finish, it is to reduce the cutting resistance acting on the tool 1.ばね要素２７Ａ，２７Ｂは隣合う転がり軸受２６間に設けられているので、スピンドルガイド部３の径を大きくせずにばね要素２７Ａ，２７Ｂを設けることができる。 Spring elements 27A, since 27B is provided between the rolling bearing 26 adjacent, can be provided a spring element 27A, 27B without increasing the diameter of the spindle guide section 3.

上記実施形態は、ガイドパイプ３０および姿勢操作部材３１を円周方向の３箇所に設けた構成であるが、外郭パイプ２５内の互いに１８０度の位相にある２箇所にガイドパイプ３０および姿勢操作部材３１を設けた構成としてもよい（図示せず）。 The above embodiment is a configuration in which the guide pipe 30 and the attitude altering member 31 at three positions in the circumferential direction, the guide pipe 30 and the attitude altering member in two places in the 180-degree phase with each other in the outer shell pipe 25 31 may be configured in which a (not shown).その場合、先端部材２は、１軸回りにのみ姿勢変更可能である。 In that case, the tip member 2 is only the posture changeable in one axial direction.

上記実施形態はスピンドルガイド部３が直線形状であるが、この発明の遠隔操作型アクチュエータは、姿勢操作部材３１が可撓性であり、スピンドルガイド部３が湾曲した状態でも先端部材２の姿勢変更動作が確実に行われるので、スピンドルガイド部３を初期状態で湾曲形状としてもよい。 The above embodiment is spindle guide section 3 is linear shaped, the remote controlled actuator of the present invention are flexible attitude operation member 31, the posture change of the tip member 2 even when the spindle guide part 3 is curved since the operation is reliably performed, it may be curved spindle guide section 3 in the initial state.あるいは、スピンドルガイド部３の一部分のみを湾曲形状としてもよい。 Alternatively, only a may be curved portion of the spindle guide section 3.スピンドルガイド部３が湾曲形状であれば、直線形状では届きにくい骨の奥まで先端部材２を挿入することが可能となる場合があり、人工関節置換手術における人工関節挿入用穴の加工を精度良く仕上げることが可能になる。 If the spindle guide section 3 is curved, it may be possible to insert the distal end member 2 to the back bone of hard to reach in a straight line shape, accurately machining the artificial joint insertion hole in an artificial joint replacement surgery it is possible to finish.スピンドルガイド部３を湾曲形状とする場合、外郭パイプ２５、ガイドパイプ３０、および補強シャフト３４を湾曲形状とする必要がある。 If the spindle guide section 3 a curved shape, it is necessary to outer pipe 25, the guide pipe 30, and a reinforcing shaft 34 a curved shape.また、回転軸２２は弾性変形しやすい材質を用いるのが良く、例えば形状記憶合金が適する。 The rotating shaft 22 is to use easy material elastically deformable well, for example, shape memory alloys are suitable.

Claims (11)

Translated from Japanese

細長形状のスピンドルガイド部と、このスピンドルガイド部の先端に先端部材連結部を介して姿勢変更自在に取付けられた先端部材と、この先端部材に回転自在に設けた工具と、この工具を回転させる工具回転用駆動源と、前記先端部材の姿勢を操作する姿勢変更用駆動源とを備え、 A spindle guide section of the elongated, a tip member mounted for attitude change through the tip member connecting portion to the distal end of the spindle guide part, and a tool which is provided rotatably on the tip member, rotating the tool comprising a tool rotation drive source, and a posture changing drive source for operating the attitude of the distal end member,前記先端部材は、前記工具を保持するスピンドルを回転自在に支持し、前記スピンドルガイド部は、前記工具回転用駆動源の回転を前記スピンドルに伝達する回転軸と、両端に貫通したガイド孔とを内部に有し、先端が前記先端部材に接して進退動作することにより前記先端部材を姿勢変更させる可撓性の姿勢操作部材を前記ガイド孔内に進退自在に挿通し、この姿勢操作部材を前記姿勢変更用駆動源で進退動作させる遠隔操作型アクチュエータであって、 The tip member, the tool rotatably supports the spindle for holding the spindle guide part includes a rotating shaft for transmitting the rotation of the tool rotation drive source to said spindle, and a guide hole penetrating both ends has therein inserted retractably flexible attitude altering member to the tip member is posture changes into the guide hole by tip is advanced and retracted in contact with said tip member, wherein the posture control member a remote controlled actuator for advancing and retracting operation by the attitude altering drive source,前記姿勢変更用駆動源を制御する姿勢制御手段を設け、この姿勢制御手段は、前記姿勢操作部材を動作開始位置である基準位置から目標位置へ移動させる制御を行うとき、定められた規則に従い、一時的に姿勢操作部材を目標位置から遠ざかる側に移動させる過程を含むことを特徴とする遠隔操作型アクチュエータ。 Attitude control means for controlling the attitude altering drive source provided, the attitude control means, when performing control to move from the reference position is an operation starting position the attitude altering member to the target position, in accordance with a defined rule, remote controlled actuator, which comprises a process of moving the temporary attitude altering member on the side away from the target position.

請求項１において、前記姿勢操作部材は、前記先端部材側に配置された剛体の先端力伝達部材と、前記姿勢変更用駆動源側に配置された剛体の基端力伝達部材と、これら先端力伝達部材と基端力伝達部材間で力を伝達する可撓性で長尺な中間力伝達部材とでなる遠隔操作型アクチュエータ。 According to claim 1, wherein the posture control member, said a tip member distal force placed rigid transmitted to the side member, a proximal force transmitting member rigid disposed in the attitude altering drive source side, these tip force remote controlled actuator comprising at an elongate intermediate force transmitting member in the flexible force transfer between transmitting member and the proximal force transmitting member.

請求項１または請求項２において、前記姿勢制御手段は、前記姿勢操作部材を基準位置から前記先端部材に対する作用力が減少する側の目標位置へ移動させるとき、目標位置を越えて移動させた後、目標位置まで戻すように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 1 or claim 2, wherein the attitude control means, when acting force moves to the target position of the decreasing side with respect to the distal end member said attitude altering member from the reference position, after moving beyond the target position , remote controlled actuator which controls the attitude altering drive source to return to the target position.

請求項１ないし請求項３のいずれか１項において、前記先端部材は前記先端部材連結部の円筒状または球面状の案内面に沿って姿勢変更するものであり、前記ガイド孔およびこのガイド孔内に挿通された姿勢操作部材を、前記案内面の曲率中心の周りの複数箇所に設け、前記姿勢変更用駆動源を各姿勢操作部材に対して個別に設け、前記複数の姿勢操作部材の前記先端部材への作用力の釣り合いにより前記先端部材の姿勢を変更、維持させるものとした遠隔操作型アクチュエータ。 In any one of claims 1 to 3, wherein the tip member is intended to position change along a cylindrical or spherical guide surface of the distal end member connecting portion, the guide hole and the guide hole an insertion posture operating member, provided at a plurality of positions around the center of curvature of the guide surface, is provided separately the attitude altering drive source for each posture control member, the tip of the plurality of attitude altering member changing the position of the tip member by the balance of the force acting on the member, remote controlled actuators shall be maintained.

請求項４において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、各姿勢操作部材が互いに同じ方向に移動して動作を完了するように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 4, wherein the attitude control means, wherein when moving the plurality of attitude altering member from the reference position to the respective target position, the posture as the posture control member has completed an operation by moving in the same direction remote controlled actuator for controlling the altering drive source.

請求項４または請求項５において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、各姿勢操作部材につき、目標位置を越えた位置まで移動させた後、目標位置まで戻すように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 4 or claim 5, wherein the attitude control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, for each posture control member, it is moved to a position beyond the target position after, the remote controlled actuator which controls the attitude altering drive source to return to the target position.

請求項４ないし請求項６のいずれか１項において、前記姿勢制御手段は、各姿勢操作部材を同期して駆動させるように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 In the claims 4 to any one of claims 6, wherein the attitude control means, remote controlled actuator which controls the attitude altering drive source so synchronously driving each posture control member.

請求項４において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置の手前の位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材および減少する姿勢制御部材を、それぞれの目標位置まで移動させるように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 4, wherein the attitude control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, the attitude operation of moving to the side acting force against said tip member is increased member is moved to a position short of the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, acting against the tip member remote controlled actuator the attitude altering member and decreasing attitude control member is moved to the side force is increased, to control the attitude altering drive source to move to the respective target positions.

請求項４において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を目標位置まで移動させるように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 4, wherein the attitude control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, the attitude operation of moving to the side acting force against said tip member is increased moving the member to a target position, and the attitude operation member acting force moves to the side to decrease relative to the tip member is moved to a position beyond the target position, in the second step, the applied force is reduced with respect to said tip member remote controlled actuator which controls the attitude altering drive source to move the posture control member for moving to the side to the target position.

請求項４において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置の手前の第１の手前位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を、目標位置の手前で前記第１の手前位置よりも目標位置に近い第２の手前位置まで移動させ、第３過程で、前記先端部材に対する作用力が減少する側に移動させる姿勢制御部材を目標位置 According to claim 4, wherein the attitude control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, the attitude operation of moving to the side acting force against said tip member is increased moving the member to the first position before the front of the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, the the attitude altering member acting force against the tip member moves to the increase side is moved to the target position, and the posture control member acting force moves to the side to decrease relative to the tip member, the first before the target position than a position before moving to the second forward position near the target position, in the third process, the target position posture control member for moving to the side acting force is reduced with respect to said tip memberで移動させるように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 In the remote controlled actuator which controls the attitude altering drive source to move.

請求項４において、前記姿勢制御手段は、前記複数の姿勢操作部材を基準位置からそれぞれの目標位置へ移動させるとき、第１過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、かつ前記先端部材に対する作用力が減少する側に移動させる姿勢操作部材を目標位置を越えた位置まで移動させ、第２過程で、前記先端部材に対する作用力が増大する側に移動させる姿勢操作部材および減少する側に移動させる姿勢制御部材を、それぞれの目標位置まで移動させるように前記姿勢変更用駆動源を制御する遠隔操作型アクチュエータ。 According to claim 4, wherein the attitude control means, when moving the plurality of attitude altering member from the reference position to the respective target positions, in a first step, the attitude operation of moving to the side acting force against said tip member is increased moving the member to a position beyond the target position, and is moved to a position beyond the target position and orientation operation member acting force moves to the side to decrease relative to the tip member, the second step, acting against the tip member remote controlled actuator posture control member the force is moved to the side of the posture control member and the decrease is moved to the increase side, and controls the attitude altering drive source to move to the respective target positions.